ArduCopter-3.2 beta testing

Warning #1: PX4/Pixhawk users upgrading from AC3.1.5 (or earlier) may need to re-do their compass and accelerometer calibration because AC3.2 also uses the backup compass and accels.  Pre-arm checks have been added to ensure this has been done.

Warning #2: on the APM2.x the logs must be downloaded using MAVlink instead of the terminal.

AC3.2-rc14 is now available for BetaTesters through the mission planner’s Beta Firmwares link.  The full release notes can be found in ReleaseNotes.txt and changes from -rc13 can be seen below.

     Feel free to raise issues found during testing on this discussion or in the new support section in the APM Forum.

     It’s a big release with “the onion” restructure and a bunch of new features (including these 57 closed items) so we need to re-test almost everything including all flight modes, all mission commands and all the new features.  Marco and I will be maintaining (and adding to) this testing list.  Issues reported will first be checked by Jonathan, Marco and I and then confirmed bugs/issues will be put on the github issues list (and then hopefully fixed).

     Thanks especially to the beta testers who put their copters at risk testing each release.  Enjoy!

Changes from 3.2-rc13
1) Safety Features:
     a) fail to arm if second gyro calibration fails (can be disabled with ARMING_CHECK)
2) Bug fixes:
    a) DCM-check to require one continuous second of bad heading before triggering LAND
    b) I2C bug that could lead to Pixhawk freezing up if I2C bus is noisy
    c) reset DCM and EKF gyro bias estimates after gyro calibration (DCM heading could drift after takeoff due to sudden change in gyro values)
    d) use primary GPS for LED status (instead of always using first GPS)

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  • Today I had several tests with RC12.

    I flew in: Stabilize, AltHold, PosHold, but that was as far as my test went.  About 4 minutes into Loiter. My Y6 did a hard over to the left and crashed.  I had it running approximately 8 ft off the ground and hands off Radio when it occured.  Not sure what went wrong. 

    Here is the Log Analyzer report:

    Log File C:/Users/Doug Walmsley/AppData/Local/Temp/tmpA568.tmp.log
    Size (kb) 1909.208984375
    No of lines 26588
    Duration 0:04:20
    Vehicletype ArduCopter
    Firmware Version V3.2-rc12
    Firmware Hash 6537432b
    Hardware Type
    Free Mem 0
    Skipped Lines 0

    Test: Autotune = UNKNOWN - No ATUN log data
    Test: Balance/Twist = GOOD -
    Test: Brownout = GOOD -
    Test: Compass = GOOD - No MAG data, unable to test mag_field interference
    Test: Dupe Log Data = GOOD - 
    Test: Empty = GOOD -
    Test: Event/Failsafe = FAIL - ERR found: CRASH
    Test: GPS = GOOD -
    Test: IMU Mismatch = UNKNOWN - No IMU log data
    Test: Parameters = GOOD -
    Test: PM = GOOD -
    Test: Pitch/Roll = FAIL - Roll (-83.25, line 26117) > maximum lean angle (45.00)
    Test: Thrust = GOOD -
    Test: VCC = GOOD - 

    Y6B has been modified with 

    Upper Motors 850kv with 11x45 APC props

    Lower Motoros 690kv with 12x8e props

    I've attached the .bin file for review.  Could use some help to determine what happened.

    Thanks Doug W

    2014-10-12 14-02-23.bin

  • Another repeat question. Where would I go to find more information on EKF for Pixhawk? 

  • I like STAB throtle control, can climb & descending faster when take aerial photo, but STAB can not hold the position, drift too much. waste time keep correct the postion,

    I try loiter/poshold and increase speed up still dont feel that way. It not fast climb as STAB does.

    Any chance we can increase speed up parameters in loiter till get manually throtle control ?

    • Developer

      I agree, as we have pointed out it's necessary to have a better throttle control in position hold, or to reinstate "Position" flight mode.

This reply was deleted.